HolonomicMotionModel.h File Reference

Defines HolonomicMotionModel, which can model the path of a holonomic robot. More...

#include "Shared/ParticleFilter.h"
#include "Localization/LocalizationParticle.h"
#include "Shared/get_time.h"
#include "Shared/zignor.h"
#include <cmath>

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Classes
class	HolonomicMotionModel< ParticleT >
	This class can model the path of a holonomic robot in two dimensions (x and y). More...
Functions
void	computeHolonomicMotion (float xvel, float yvel, float avel, float time, float &xpos, float &ypos, float &apos)
	the main function -- to avoid numeric issues, treats paths that would result in a radius over 1e6 long as a straight line

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Detailed Description

Defines HolonomicMotionModel, which can model the path of a holonomic robot.

Author:

Ethan Tira-Thompson (ejt) (Creator)

Definition in file HolonomicMotionModel.h.

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Function Documentation

void computeHolonomicMotion	(	float	xvel,
		float	yvel,
		float	avel,
		float	time,
		float &	xpos,
		float &	ypos,
		float &	apos
	)

the main function -- to avoid numeric issues, treats paths that would result in a radius over 1e6 long as a straight line

see HolonomicMotionModel class notes for more information on the math involved

Definition at line 3 of file HolonomicMotionModel.cc.

Referenced by HolonomicMotionModel< ParticleT >::getPosition(), HolonomicMotionModel< ParticleT >::setVelocity(), and HolonomicMotionModel< ParticleT >::updateMotion().